Ant Colony Algorithm Based on Upper Bound of Nodes for Robot Path Planning Problems

In order to solve the problems of ant colony algorithm such as low search efficiency, slow convergence speed and easy to fall into local optimum, an improved ant colony algorithm is proposed in this paper. In the proposed algorithm, the upper bound of path nodes is adjusted and the grid map mode is integrated. The upper bound of nodes are adjusted for driving the optimization process of algorithm. Experiment simulation is carried out based on two specific robot path-planning examples. Results show that the proposed ant colony algorithm can guarantees the global optimization capability, and it also can improve the efficiency of path planning.